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   <div id="projectname">traj_gen
   &#160;<span id="projectnumber">2.0</span>
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   <div id="projectbrief">trajectory generation module</div>
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<div class="title"><a class="el" href="namespacetraj__gen.html">traj_gen</a> </div>  </div>
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<div class="textblock"><div class="image">
<img src="https://github.com/icsl-Jeon/traj_gen/blob/master/img/intro.png" />
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<p>**(left)** piecewise polynomial path obtained **(right)** multiple safe corridors in subinterval</p>
<div class="image">
<img src="https://github.com/icsl-Jeon/traj_gen/blob/master/img/run_video.gif" />
</div>
<ul>
<li>**(running <a class="el" href="namespacetraj__gen.html">traj_gen</a>)** step by step tutorial</li>
</ul>
<h2>0. Release notes</h2>
<h4>2019/5/16</h4>
<p>QSlider was added. As of now, <em><a class="el" href="namespacetraj__gen.html">traj_gen</a></em> can accommodate height input from user. Adjust slider for height and then select waypoint. In this way, height value will be encoded together(see below).</p>
<div class="image">
<img src="https://github.com/icsl-Jeon/traj_gen/blob/master/img/gui_update.png" />
</div>
<h2>1 Installation</h2>
<h3>1.1 Dependencies</h3>
<h4>(0) ROS and qt related packages</h4>
<h4>(1) qpOASES</h4>
<ul>
<li>The package bases qpOASES as quadratic programming solver. Please refer <a href="https://projects.coin-or.org/qpOASES">https://projects.coin-or.org/qpOASES</a> and install the library. (make sure <code>sudo make install</code> after build of qpOASES)</li>
<li>Let the qpOASES package direcotry ${qpOASES_SRC}. Please insert your qpOASES directory in CMakeList.txt</li>
</ul>
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;## System dependencies are found with CMake&#39;s conventions</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;find_package(Boost REQUIRED COMPONENTS system)</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;// here insert your qpOASES directory </div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;set(qpOASES_SRC /home/jbs/lib/qpOASES-3.2.1)</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;file(GLOB_RECURSE qpOASES_LIBS ${qpOASES_SRC}/src/*.cpp)</div></div><!-- fragment --><h2>2 ROS Node API</h2>
<h3>2.1 Published Topics</h3>
<ul>
<li>control_pose [geometry_msgs/PoseStamped] : published topic for desired control point of current time step</li>
<li>safe_corridor [visualization_msgs/Marker] : the safe corridor marker</li>
<li>trajectory [nav_msgs/Path] : generated trajectory</li>
<li>trajectory_knots [visualization_msgs/Marker] : the points on the path evaluated each waypoint time</li>
<li>waypoints_marker [visualization_msgs/MarkerArray] : the recieved waypoints from user</li>
</ul>
<h3>2.2 Subscribed Topics</h3>
<ul>
<li>/waypoint [geometry_msgs/PoseStamped] : waypoint input from Rvis by user</li>
</ul>
<h3>2.3 Parameters in Launch</h3>
<ul>
<li>world_frame_id : the world frame id. (default : /world)</li>
<li>waypoint_topic : the topic name by user input</li>
</ul>
<h2>3 USAGE</h2>
<h3>3.1 Qt gui</h3>
<div class="image">
<img src="https://github.com/icsl-Jeon/traj_gen/blob/master/img/traj_gen.png" />
</div>
<p>This library provides interface where you can specifiy a sequence of waypoints from Rviz</p>
<p>(1) ROS connect : please push the button at the beginning while roscore is running</p>
<p>(2) select waypoints : waypoints insertion from rviz is allowed while this button is clicked</p>
<p>(3) trajectory generation : quadratic programming with assigned parameters</p>
<p>(4) publish : the time allocation of the trajectory is equal division from 0 to "simulation tf" of gui. A desired control point will be published in <em>geometry_msg/PoseStamped</em> message type. The evaluation time for control point will be paused by re-clicking (still publishing). If you want to evaluate the trajectory of interest again from the start, Then release the button and re-create the same trajectory with <em>Traj generation</em> button.</p>
<p>(5) manage waypoints : please provide the absolute of directory for txt file</p>
<p>(6) textbox. important message will appear</p>
<h3>waypoints selection from user</h3>
<div class="image">
<img src="https://github.com/icsl-Jeon/traj_gen/blob/master/img/traj_gen-2.png" />
</div>
<p><em>You can also save and load the waypoints in txt file format. In that way, you may assign the heights for each waypoint</em></p>
<h2>4 Alogrithm</h2>
<p>This package is based on minimum jerk or snap with motion primitives of polynomials</p>
<p><b>refer</b> Mellinger, Daniel, and Vijay Kumar. "Minimum snap trajectory generation and control for quadrotors." 2011 IEEE International Conference on Robotics and Automation. IEEE, 2011.</p>
<hr/>
 <h3>4.1 Waypoints</h3>
<div class="image">
<img src="https://github.com/icsl-Jeon/traj_gen/blob/master/img/hard_vs_soft.png" />
</div>
<h4>(1) Soft waypoints</h4>
<p>not necessarily pass through the specified waypoints. But it can minimize jerk more.</p>
<h4>(2) Hard waypoints</h4>
<p>the waypoints will be passed exactly as hard constraints</p>
<hr/>
<h3>4.2 Corridor</h3>
<div class="image">
<img src="https://github.com/icsl-Jeon/traj_gen/blob/master/img/explain_corridor.jpg" />
</div>
<h4>(1) multiple sub boxes between waypoints which is axis-parallel</h4>
<p>Number of constraints will be increased but x,y,z can be solved independently.</p>
<p>In general, imposing too many sub constraints will be infeasible for polynomial curves</p>
<h4>(2) single box between waypoints (sitll developing)</h4>
<p>Number of constraints will be decreased but x,y,z cannot be solved independently</p>
<h2>5 Issues</h2>
<ul>
<li>please avoid using polynomial order 6 for the case where you minimize the jerk squared integral (objective derivate = 3) </li>
</ul>
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